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uic-evl / DOE_DigitalTwin

DOE Digital Twin repository
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ROS Gripper Control #32

Open halBRY opened 1 month ago

halBRY commented 1 month ago

On Linux, we are able to send ROS Messages out of OVIS and Unity. We would like to use these to control the gripper.

halBRY commented 1 month ago

There is an issue with OVIS 4.0. In 4.0, the Articulation Root Physics object must be on the base joint of the robot for the IK calculation to work correctly. However, the ROS2 nodes expect to be passed the root prim of the robot with an Articulation Root. We can send the joint_states if we move the Articulation Root to the root prim, though self-collisions need to be disabled.

See this thread for more details.

halBRY commented 1 month ago

Omniverse-ROS works. Gripper control in Unity needs to be added.